Searched for: subject%3A%22Impedance%255C+Control%22
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de Wolde, Jelmer (author)
Mobile manipulators, which combine a mobile platform with a robotic arm, are versatile robots that can be used for a variety of tasks like logistic pick-and-placing, manufacturing or assembly. Compliant control for mobile manipulators could improve the safety of the users sharing their workspace with these robots. The two general methods of...
master thesis 2024
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Panichi, Edoardo (author)
In this thesis, we introduce a novel approach aimed at enhancing the jumping and landing capabilities of quadruped robots. Our method integrates both model-based and model-free strategies and features a behavioral cloning framework designed to reduce computational delays often encountered in trajectory optimization.<br/><br/>Initially, we build...
master thesis 2024
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Berjaoui Tahmaz, Amin (author)
This paper presents a hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior primitives with variable stiffness control capabilities for contact tasks. Our proposed approach relies on three key components: an action...
master thesis 2024
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Ravenberg, Jevon (author)
In this work, we propose a method of processing patient input on discomfort level during robot shoulder physiotherapy into discomfort maps. These maps represent the patient's discomfort distribution throughout the range of motion of the shoulder, interpretable by both physiotherapists and robots. This method consists of three parts: the patient...
master thesis 2024
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Rots, Astrid (author)
We propose a novel shared control interface that enables teleoperated teaching of both high-level decision-making skills and low-level impedance modulation skills using a single haptic device. In the proposed method, high-level teaching is achieved by repurposing the haptic device to remotely modify Behaviour Trees (BTs), allowing human...
master thesis 2023
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Korzilius, Nikki (author)
While the presence and demand of robotic rehabilitation devices are rising, not many studies have been performed on haptic communication/ telerehabilitation with these devices. Despite therapists' desire to have the possibility to remain in the loop when their patients are performing exercises. This study aims to provide a telerehabilitation...
master thesis 2023
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Brummelhuis, Martijn (author)
Aerial physical interaction opens the door for many operations at height to be automatised using aerial robots. This research presents a novel manipulator design mounted on a traditional quadrotor, which utilises both mechanical and software compliance to perform physical interaction on vertical walls and overhanging surfaces, such as those...
master thesis 2023
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Peternel, L. (author), Ajoudani, Arash (author)
Despite the significant progress made in making robots more intelligent and autonomous, today, teleoperation remains a dominant robot control paradigm for the execution of complex and highly unpredictable tasks. Attempts have been made to make teleoperation systems stable, easy to use, and efficient in terms of physical interactions between...
review 2023
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Haninger, Kevin (author), Hegeler, Christian (author), Peternel, L. (author)
Robotic tasks which involve uncertainty – due to variation in goal, environment configuration, or confidence in task model – may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for adapting robot trajectory or impedance according to individual uncertainties have been proposed, e.g.,...
journal article 2023
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Coleman, T. (author), Franzese, G. (author), Borja Rosales, L.P. (author)
This paper studies the tuning process of controllers for fully actuated manipulators. To this end, we propose a methodology to design the desired damping matrix—alternatively, the derivative gain of a PD controller—of the closed-loop system such that n second-order systems can approximate its behavior with a prescribed damping coefficient,...
conference paper 2023
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Maessen, Rosa E.S. (author), Prendergast, J.M. (author), Peternel, L. (author)
Skill propagation among robots without human involvement can be crucial in quickly spreading new physical skills to many robots. In this respect, it is a good alternative to pure reinforcement learning, which can be time-consuming, or learning from human demonstration, which requires human involvement. In the latter case, there may not be...
journal article 2023
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Balvert, Stephan (author)
In this work, we propose a method for monitoring and management of rotator-cuff tendon strains in human-robot collaborative physical therapy for rotator cuff rehabilitation. The proposed approach integrates a complex offline biomechanical model with a collaborative, industrial robot arm and an impedance controller. The model is used for...
master thesis 2022
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Mészáros, A. (author), Franzese, G. (author), Kober, J. (author)
This work investigates how the intricate task of a continuous pick &amp; place (P&amp;P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even slightly flawed, particularly at moments when multiple aspects (i.e., end-effector movement,...
journal article 2022
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Lander, Niels (author)
To generalize the use of robotics, there are a few hurdles still to take. One of these hurdles is the programming of the robots. Most robots on the market today employ position control, with a set of controller parameters tuned by an expert. This programming is quite expensive, only suited for a single task, in a single configuration, and not...
master thesis 2021
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Doornebosch, Luuk Maria (author), Abbink, D.A. (author), Peternel, L. (author)
Tele-impedance augments classic teleoperation by enabling the human operator to actively command remote robot stiffness in real-time, which is an essential ability to successfully interact with the unstructured and unpredictable environment. However, the literature is missing a study on benefits and drawbacks of different types of stiffness...
journal article 2021
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Huang, Yu-Chih (author)
Teleoperation of a robot is often necessary when the remote site is not safe for humans. Moreover, to interact with dynamic environments safely, a teleoperation method called teleimpedance, which allows the human operator to control the impedance of the robot, is used. The main drawback of this method is that the human workload may increase....
master thesis 2020
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Doornebosch, Luuk (author)
Tele-impedance augments classical teleoperation by enabling the human operator to actively command remote robot stiffness. Hereby, an essential strategy used by humans to successfully interact with the unstructured environment complements remote robot-environment interaction. However, literature lacks awareness of benefits and disbenefits of...
master thesis 2019
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Fayazi, Ali (author), Pariz, Naser (author), Karimpour, Ali (author), Hassan HosseinNia, S. (author)
This paper presents a fractional-order sliding mode control scheme equipped with a disturbance observer for robust impedance control of a single-link flexible robot arm when it comes into contact with an unknown environment. In this research, the impedance control problem is studied for both unconstrained and constrained maneuvers. The...
journal article 2018
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Naikwad, S.S. (author)
Piezo-Stepper actuators also called as piezowalk actuators find widespread application in precision mechatronic systems. This is primarily because of their high accuracy, long range of motion and compact volume. One such application is in the optical column manipulator of a lithography system. During operation, whenever a motion is desired...
master thesis 2016
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Fleerkotte, B.M. (author), Koopman, B. (author), Buurke, J.H. (author), Van Asseldonk, E.H.F. (author), Van der Kooij, H. (author), Rietman, J.S. (author)
Background There is increasing interest in the use of robotic gait-training devices in walking rehabilitation of incomplete spinal cord injured (iSCI) individuals. These devices provide promising opportunities to increase the intensity of training and reduce physical demands on therapists. Despite these potential benefits, robotic gait-training...
journal article 2014
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